WO2008015059A1 - Procédé de surveillance d'une opération de démarrage d'un véhicule automobile - Google Patents
Procédé de surveillance d'une opération de démarrage d'un véhicule automobile Download PDFInfo
- Publication number
- WO2008015059A1 WO2008015059A1 PCT/EP2007/056535 EP2007056535W WO2008015059A1 WO 2008015059 A1 WO2008015059 A1 WO 2008015059A1 EP 2007056535 W EP2007056535 W EP 2007056535W WO 2008015059 A1 WO2008015059 A1 WO 2008015059A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- starting
- torque
- motor vehicle
- approach
- transmission system
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000008569 process Effects 0.000 title claims abstract description 11
- 238000012544 monitoring process Methods 0.000 title claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000006378 damage Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 1
- 230000003213 activating effect Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
- F16D48/08—Regulating clutch take-up on starting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/02—Clutches
- B60W2510/0291—Clutch temperature
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/027—Clutch torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
Definitions
- the invention relates to a method for monitoring a starting process of a motor vehicle, according to the closer defined in the preamble of claim 1.
- Automated switching systems consist in terms of their main components of conventional, possibly also manually operable switching systems in which the actuation of the shift and / or starting clutch between the drive motor and transmission and the selection and switching of gears via corresponding actuating means is automated.
- actuating means are usually designed as hydraulically or pneumatically actuated piston-cylinder arrangements or as electrical actuators, which act on adjusting medium for said gear functions.
- the adjusting means may be arranged on or in the transmission.
- pressure generating and control devices are necessary, which comprise according to the prior art, a hydraulic or pneumatic pump as a pressure generating device, a pressure accumulator and a hydraulic or pneumatic control unit with control valves and sensors, which with a central control - And control device in connection and are controlled by this stored there control and regulation functions.
- DE 102 30 612 A1 discloses a drive train for operating a motor vehicle, which comprises a drive motor, a torque transmission system and an automated manual transmission.
- the torque transmission system can be actuated automatically by means of an actuator and the transmission has at least two shingles with different ratios, wherein at least one gear of the transmission serves as a starting gear.
- a starting process is controlled by a control unit by the application of a starting characteristic, which can be adapted at least temporarily to a starting situation.
- DE 100 31 771 A1 discloses a motor vehicle with a device for the automated actuation of a clutch.
- the drive train of the motor vehicle has a motor, a transmission, a control unit and an actuator controlled by the control unit for actuating the clutch.
- the transmittable by the clutch torque is increased and controlled substantially to a predetermined torque value, wherein the torque transmittable from the clutch before reaching the speed equality between engine speed and speed increased at least in the short term and is lowered again. This allows a more comfortable start of the motor vehicle can be realized.
- Disadvantages of the prior art are that, despite the mentioned work or procedure during the operating time of a transmission can lead to unpredictable deviations, so that the control program with the coordinated set of parameters does not lead to the desired driving behavior So it may happen, for example, that a vehicle can not approach, because the programmed parameter set is not suitable to cope with the current driving situation. This can be the case, for example, if one or more boundary conditions have changed greatly compared to the tuned state. For example, the transmission behavior of the clutch significantly lower, the engine performance significantly worse and / or the driving resistance to be significantly higher.
- the present invention has for its object to present a method for monitoring a starting process of a motor vehicle and to eliminate the disadvantages of the prior art.
- a starting observer is used.
- An observer is commonly understood to mean a logic which uses suitable signals to observe whether the events or sequences for whose purpose the function was used are entered by a corresponding function in a control unit.
- the approach observer has the following tasks;
- a clear approach request can be derived from the accelerator pedal angle. If the accelerator pedal angle is very large, for example, greater than 90%, then the starting observer starts from a clear start-up request. If there is a clear start-up request, a stored normal function of the control with the corresponding parameter set generally leads to the vehicle starting to move within a measurable time. If the vehicle does not start moving within a predefinable observation time despite the start-up request, measures are taken by the start-up observer in the control program that differ from normal operation.
- Raising the engine speed and, if necessary, easy opening of the clutch This is the corrective action that a driver with a manual transmission and existing clutch pedal might perform to get started. As a rule, this means that the engine can build up a higher torque than is normally necessary in normal operation. These measures may For example, they can be repeated cyclically. By increasing the engine speed can take place at higher torque than in normal operation.
- the easy opening of the clutch is not mandatory here.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Human Computer Interaction (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Transmission Device (AREA)
Abstract
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/373,822 US7979191B2 (en) | 2006-07-29 | 2007-06-29 | Method for monitoring a starting process of a motor vehicle |
EP07765719A EP2046616B1 (fr) | 2006-07-29 | 2007-06-29 | Procédé de surveillance d'une opération de démarrage d'un véhicule automobile |
AT07765719T ATE448984T1 (de) | 2006-07-29 | 2007-06-29 | Verfahren zur überwachung eines anfahrvorganges eines kraftfahrzeugs |
KR1020097003497A KR101328287B1 (ko) | 2006-07-29 | 2007-06-29 | 차량의 기동 과정 모니터링을 위한 방법 |
DE502007002071T DE502007002071D1 (de) | 2006-07-29 | 2007-06-29 | Verfahren zur überwachung eines anfahrvorganges eines kraftfahrzeugs |
BRPI0714984-0A BRPI0714984A2 (pt) | 2006-07-29 | 2007-06-29 | processo para monitorar uma operaÇço de partida de um veÍculo automotor |
CN2007800283738A CN101495355B (zh) | 2006-07-29 | 2007-06-29 | 用于监控机动车启动过程的方法 |
JP2009522196A JP5008726B2 (ja) | 2006-07-29 | 2007-06-29 | モータ乗物の発進行程をモニタリングするための方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006035142A DE102006035142A1 (de) | 2006-07-29 | 2006-07-29 | Verfahren zur Überwachung eines Anfahrvorganges eines Kraftfahrzeugs |
DE102006035142.8 | 2006-07-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008015059A1 true WO2008015059A1 (fr) | 2008-02-07 |
Family
ID=38521504
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2007/056535 WO2008015059A1 (fr) | 2006-07-29 | 2007-06-29 | Procédé de surveillance d'une opération de démarrage d'un véhicule automobile |
Country Status (10)
Country | Link |
---|---|
US (1) | US7979191B2 (fr) |
EP (1) | EP2046616B1 (fr) |
JP (1) | JP5008726B2 (fr) |
KR (1) | KR101328287B1 (fr) |
CN (1) | CN101495355B (fr) |
AT (1) | ATE448984T1 (fr) |
BR (1) | BRPI0714984A2 (fr) |
DE (2) | DE102006035142A1 (fr) |
RU (1) | RU2425766C2 (fr) |
WO (1) | WO2008015059A1 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2128473A3 (fr) * | 2008-05-13 | 2012-10-31 | Honda Motor Co., Ltd. | Système de contrôle d'embrayage |
EP3272602A1 (fr) * | 2016-07-21 | 2018-01-24 | Yamaha Hatsudoki Kabushiki Kaisha | Procédé de commande d'un embrayage et d'un moteur d'entraînement de véhicule et véhicule |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007043591B4 (de) | 2007-09-13 | 2018-12-27 | Zf Friedrichshafen Ag | Verfahren zum Verhindern des Abwürgens des Verbrennungsmotors während eines Anfahrvorgangs |
SE536449C2 (sv) * | 2012-03-28 | 2013-11-05 | Scania Cv Ab | Anordning och förfarande för slitagebegränsande momentuppbyggnad hos ett fordon |
DE102012014724B3 (de) * | 2012-04-14 | 2013-09-12 | Volkswagen Aktiengesellschaft | Vorrichtung, Verfahren und Computerprogramm zum Betreiben eines Datenbussystems eines Kraftfahrzeugs |
JP6137210B2 (ja) * | 2015-01-29 | 2017-05-31 | トヨタ自動車株式会社 | 車両の制御装置 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19603239A1 (de) * | 1996-01-30 | 1997-07-31 | Bayerische Motoren Werke Ag | Verfahren zur Erhöhung der Drehzahl eines Fahrzeugmotors |
DE19921920A1 (de) * | 1999-05-12 | 2000-11-23 | Mannesmann Sachs Ag | Verfahren zum Schützen einer automatisierten Reibungskupplung eines Fahrzeugs gegen Überlastung |
DE10221263A1 (de) * | 2001-05-17 | 2002-11-21 | Luk Lamellen & Kupplungsbau | Verfahren zum Steuern und/oder Regeln eines Drehmomentenübertragungssystems in einem Antriebsstrang eines Fahrzeuges |
US20030022759A1 (en) * | 2001-07-24 | 2003-01-30 | Gerd Frotscher | Controlling of an automated starting element |
WO2004005744A1 (fr) * | 2002-07-05 | 2004-01-15 | Volvo Lastvagnar Ab | Procede et dispositif de commande d'embrayage a disque |
DE102004023581A1 (de) * | 2004-05-13 | 2005-12-08 | Adam Opel Ag | Verfahren zur Steuerung einer Kupplung und/oder eines Kraftfahrzeuggetriebes |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
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US143383A (en) * | 1873-09-30 | Improvement in comb-frames | ||
US71065A (en) * | 1867-11-19 | Improvement in churn-dashers | ||
US22759A (en) * | 1859-01-25 | Jesse whbelock | ||
JP3379439B2 (ja) * | 1997-09-17 | 2003-02-24 | トヨタ自動車株式会社 | 内燃機関の始動制御装置 |
DE10031771A1 (de) | 1999-06-30 | 2001-02-15 | Ford Global Tech Inc | Kraftfahrzeug |
DE10021920C1 (de) | 2000-05-05 | 2001-07-26 | Infineon Technologies Ag | Datenverarbeitungsverfahren und -Einrichtung zur Modulo-Berechnung eines Rests bei der Division |
EP1444448A1 (fr) | 2001-07-11 | 2004-08-11 | LuK Lamellen und Kupplungsbau Beteiligungs KG | Procede pour commander et/ou reguler un procede de demarrage d'un vehicule |
JP3841296B2 (ja) * | 2003-01-21 | 2006-11-01 | スズキ株式会社 | エンジンの自動停止始動制御装置 |
JP3948453B2 (ja) * | 2003-11-18 | 2007-07-25 | 日産自動車株式会社 | 車両の駆動力制御装置 |
JP4131253B2 (ja) * | 2004-06-10 | 2008-08-13 | 日産自動車株式会社 | 車両の発進摩擦要素制御装置 |
DE102005029566A1 (de) | 2004-06-30 | 2006-02-02 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Verfahren zum Schutz einer automatisiert betätigten Kupplung eines Fahrzeus gegen Überlastung |
DE102004057511A1 (de) | 2004-11-29 | 2006-06-08 | Volkswagen Ag | Motorsteuerung und Motorsteuerverfahren |
US7229381B2 (en) * | 2005-06-06 | 2007-06-12 | Ford Global Technologies, Llc | Method for controlling engine starts for a vehicle powertrain |
JP2007192335A (ja) * | 2006-01-20 | 2007-08-02 | Nissan Motor Co Ltd | 発進摩擦要素制御装置 |
-
2006
- 2006-07-29 DE DE102006035142A patent/DE102006035142A1/de not_active Withdrawn
-
2007
- 2007-06-29 EP EP07765719A patent/EP2046616B1/fr not_active Not-in-force
- 2007-06-29 CN CN2007800283738A patent/CN101495355B/zh active Active
- 2007-06-29 AT AT07765719T patent/ATE448984T1/de active
- 2007-06-29 BR BRPI0714984-0A patent/BRPI0714984A2/pt not_active IP Right Cessation
- 2007-06-29 DE DE502007002071T patent/DE502007002071D1/de active Active
- 2007-06-29 US US12/373,822 patent/US7979191B2/en not_active Expired - Fee Related
- 2007-06-29 WO PCT/EP2007/056535 patent/WO2008015059A1/fr active Application Filing
- 2007-06-29 RU RU2009106708/11A patent/RU2425766C2/ru not_active IP Right Cessation
- 2007-06-29 JP JP2009522196A patent/JP5008726B2/ja not_active Expired - Fee Related
- 2007-06-29 KR KR1020097003497A patent/KR101328287B1/ko not_active IP Right Cessation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19603239A1 (de) * | 1996-01-30 | 1997-07-31 | Bayerische Motoren Werke Ag | Verfahren zur Erhöhung der Drehzahl eines Fahrzeugmotors |
DE19921920A1 (de) * | 1999-05-12 | 2000-11-23 | Mannesmann Sachs Ag | Verfahren zum Schützen einer automatisierten Reibungskupplung eines Fahrzeugs gegen Überlastung |
DE10221263A1 (de) * | 2001-05-17 | 2002-11-21 | Luk Lamellen & Kupplungsbau | Verfahren zum Steuern und/oder Regeln eines Drehmomentenübertragungssystems in einem Antriebsstrang eines Fahrzeuges |
US20030022759A1 (en) * | 2001-07-24 | 2003-01-30 | Gerd Frotscher | Controlling of an automated starting element |
WO2004005744A1 (fr) * | 2002-07-05 | 2004-01-15 | Volvo Lastvagnar Ab | Procede et dispositif de commande d'embrayage a disque |
DE102004023581A1 (de) * | 2004-05-13 | 2005-12-08 | Adam Opel Ag | Verfahren zur Steuerung einer Kupplung und/oder eines Kraftfahrzeuggetriebes |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2128473A3 (fr) * | 2008-05-13 | 2012-10-31 | Honda Motor Co., Ltd. | Système de contrôle d'embrayage |
EP3272602A1 (fr) * | 2016-07-21 | 2018-01-24 | Yamaha Hatsudoki Kabushiki Kaisha | Procédé de commande d'un embrayage et d'un moteur d'entraînement de véhicule et véhicule |
US10704675B2 (en) | 2016-07-21 | 2020-07-07 | Yamaha Hatsudoki Kabushiki Kaisha | Vehicle and control method thereof |
Also Published As
Publication number | Publication date |
---|---|
US20090312928A1 (en) | 2009-12-17 |
RU2425766C2 (ru) | 2011-08-10 |
DE502007002071D1 (de) | 2009-12-31 |
EP2046616B1 (fr) | 2009-11-18 |
CN101495355A (zh) | 2009-07-29 |
CN101495355B (zh) | 2012-05-23 |
EP2046616A1 (fr) | 2009-04-15 |
KR20090045254A (ko) | 2009-05-07 |
BRPI0714984A2 (pt) | 2013-07-30 |
DE102006035142A1 (de) | 2008-02-14 |
JP5008726B2 (ja) | 2012-08-22 |
RU2009106708A (ru) | 2010-09-10 |
KR101328287B1 (ko) | 2013-11-14 |
JP2009544899A (ja) | 2009-12-17 |
US7979191B2 (en) | 2011-07-12 |
ATE448984T1 (de) | 2009-12-15 |
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